We've been quietly beavering away at hardware-in-the-loop simulations for our Vulture 2 spaceplane, and Pixhawk wrangler Linus Penzlien has finally got the aircraft to land itself at a virtual Spaceport America.
The HIL work involves ArduPilot controlling an X-Plane model created by Billy Bargagliotti. The APM deploys some custom mission parameters by Andrew Tridgell, plus a smidge of autotune.
For your viewing pleasure, see this short video, grabbed by Linus during a recent simulation.
There are details of the HIL work here, and full coverage of the Low Orbit Helium Assisted Navigator (LOHAN) mission right here.